PID controller optimization for calligraphy engraving tools on Computerized Numerical Control (CNC) machines based on Grey Wolf Optimization

Ali, Machrus ORCID: https://orcid.org/0000-0001-6018-4508, Haikal, Muhammad Agil, Nugroho, Fresy ORCID: https://orcid.org/0000-0001-9448-316X, Lestari, Tri Mukti ORCID: https://orcid.org/0009-0005-9416-7905, Maharani, Dian ORCID: https://orcid.org/0000-0002-5991-9068, Hanggara, Fuad Dwi ORCID: https://orcid.org/0000-0002-9018-0249 and Fahmi, Fariz Rifqi Zul Fahmi (2026) PID controller optimization for calligraphy engraving tools on Computerized Numerical Control (CNC) machines based on Grey Wolf Optimization. Jurnal Riset Rekayasa Elektro, 8 (1). pp. 64-73. ISSN 2685-5313

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Abstract

The engraving quality of calligraphy on CNC machines is strongly affected by axis trajectory-tracking accuracy and motion stability during speed transitions, sharp corners, and cutting-load variations. PID controllers are widely adopted in CNC servo systems, yet improper gain tuning may increase following error, prolong settling time, and cause overshoot that degrades surface finish. This study proposes Grey Wolf Optimization (GWO)-based PID tuning implemented in MATLAB/Simulink. The objective function is dominated by ITAE with penalties on overshoot, settling time, and steady-state error. In addition to step and sinusoidal tracking tests, a G-code-derived calligraphy toolpath (placeholder) is included to represent high-curvature segments. The results indicate that the
GWO-tuned PID reduces ITAE, improves settling time versus conventional tuning, and decreases RMS tracking errors at low-to-medium frequencies. The proposed workflow is modular and can be replaced by an identified plant model of a real CNC axis.

Item Type:	Journal Article
Keywords:	PID, CNC, Calligraphy, Grey Wolf Optimization, MATLAB/Simulink
Subjects:	08 INFORMATION AND COMPUTING SCIENCES > 0801 Artificial Intelligence and Image Processing > 080110 Simulation and Modelling 09 ENGINEERING > 0913 Mechanical Engineering > 091307 Numerical Modelling and Mechanical Characterisation
Divisions:	Faculty of Technology > Department of Informatics Engineering
Depositing User:	Fuad Dwi Hanggara
Date Deposited:	15 Jul 2026 08:49

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